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<h1>mdl_ball</h1><p><span class="helptopic">Create model of a ball manipulator</span></p><p>
MDL_BALL  creates the workspace variable ball which describes the
kinematic characteristics of a serial link manipulator that folds into
a ball shape.  By default has 50 joints.

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<p>
<span style="color:red">mdl_ball</span>(<strong>n</strong>) as above but creates a manipulator with <strong>n</strong> joints.

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<p>
Also define the workspace vectors:

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<p>
q  joint angle vector for default ball configuration

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<h2>Reference</h2>
<ul>
  <li>"A divide and conquer articulated-body algorithm for parallel O(log(n))
calculation of rigid body dynamics, Part 2",
Int. J. Robotics Research, 18(9), pp 876-892.</li>
</ul>
<h2>Notes</h2>
<ul>
  <li>Unlike most other mdl_xxx scripts this one is actually a function that
behaves like a script and writes to the global workspace.</li>
</ul>
<h2>See also</h2>
<p>
<a href="matlab:doc SerialLink">SerialLink</a>, <a href="matlab:doc mdl_puma560akb">mdl_puma560akb</a>, <a href="matlab:doc mdl_stanford">mdl_stanford</a>, <a href="matlab:doc mdl_twolink">mdl_twolink</a>, <a href="matlab:doc mdl_coil">mdl_coil</a></p>
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<p class="copy">&copy; 1990-2012 Peter Corke.</p>
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